Rgb-d imaging system and method using ultrasonic depth sensing

ABSTRACT

RGB-D imaging system having an ultrasonic array fin generating images that include depth data, and methods fin manufacturing and using same. The RGB-D imaging system includes an ultrasonic sensor array positioned on a housing that includes an ultrasonic emitter and a plurality of ultrasonic sensors. The RGB-D imaging system also includes an RGB camera assembly positioned on the housing in a parallel plane with, and operably connected to, the ultrasonic sensor. The RGB-D imaging system thereby provides/enables improved imaging in a wide variety of lighting conditions compared to conventional systems.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of, and claims priority to, to,copending PCT Patent Application Number PCT/CN2014/089741, which wasfiled on Oct. 28, 2014. The disclosure of the PCT application is hereinincorporated by reference in its entirety and for all purposes.

COPYRIGHT NOTICE

A portion of the disclosure of this patent document contains materialwhich is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor the patent disclosure, as it appears in the Patent and TrademarkOffice patent file or records, but otherwise reserves all copyrightrights whatsoever.

FIELD

The present disclosure relates to digital Imaging, computer vision andultrasonic sensing, and more specifically to RGB-D camera systems andmethods.

BACKGROUND

An RGB-D camera is a camera capable of generating three-dimensionalimages (a two-dimensional image in a plane plus a vertical depth diagramimage). An RGB-D camera conventionally has two different groups ofsensors. One of the groups comprises optical receiving sensors (such asRGB cameras), which are used for receiving ambient images that areconventionally represented with respective strength values of threecolors: R (red), G (green) and B (blue). The other group of sensorscomprises infrared lasers or structured light sensors, for detecting adistance (D) of an object being observed and for acquiring a depthdiagram image. Applications of RGB-D cameras include spatial Imaging,gesture identifications, distance detection, and the like.

One type of RGB-D camera applies an infrared light source for imaging(e.g., the Microsoft Kinect). Such a camera has a light source that canemit infrared light with specific spatial structures. Additionally, sucha camera is equipped with a lens and a filter chip for receiving theinfrared light. An internal processor of the camera calculates thestructures of the received infrared light, and through variations of thelight structures, the processor perceives the structure and distanceinformation of the object.

Conventional RGB-D cameras, such as the Microsoft Kinect, utilize aninfrared light detection approach for acquiring depth information.However, the approach based on infrared light detection works poorly inoutdoor settings, especially for objects illuminated by sunlight becausethe sunlight spectrum has a strong infrared signature that can concealthe infrared light emitted from a detector. Some infrared lightdetectors attempt to solve this issue by increasing their power, (e.g.with laser or by increasing the strength of the light source). However,this approach is undesirable because it requires greater powerconsumption.

In view of the foregoing, a need exists for an improved RGB-D imagingsystem and method to overcome the aforementioned obstacles anddeficiencies of conventional RGB-D imaging systems.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an exemplary top-level drawing illustrating an embodiment ofan RGB-D imaging system.

FIG. 2 is an exemplary drawing illustrating an embodiment of combiningdepth data with RGB data.

FIG. 3 is an exemplary drawing illustrating another embodiment ofcombining depth data with RGB data.

FIG. 4 is an exemplary front-view drawing illustrating an embodiment ofan RGB-D imaging system that includes one RGB camera system and oneultrasonic depth sensor.

FIG. 5 is an exemplary top-view drawing illustrating the field of viewof the RGB-D imaging system of FIG. 4.

FIG. 6 illustrates a method of generating an RGB-D image in accordancewith an embodiment.

FIG. 7 is an exemplary front-view drawing illustrating an embodiment ofan RGB-D imaging system that includes one RGB camera system and twoultrasonic depth sensors.

FIG. 8 is an exemplary top-view drawing illustrating the field of viewof the RGB-D imaging system of FIG. 7.

FIG. 9 illustrates a method of generating an RGB-D image in accordancewith an embodiment.

FIG. 10 illustrates an embodiment of an RGB-D imaging assembly thatincludes a plurality of RGB-D imaging systems.

FIG. 11 illustrates a method of generating an RGB-D image in accordancewith an embodiment.

It should be noted that the figures are not drawn to scale and thatelements of similar structures or functions are generally represented bylike reference numerals for illustrative purposes throughout thefigures. It also should be noted that the figures are only intended tofacilitate the description of the preferred embodiments. The figures donot illustrate every aspect of the described embodiments and do notlimit the scope of the present disclosure.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Since currently-available RGB-D imaging systems are deficient becausethey fail to work in a variety of operating conditions such as outdoorsin sunlight, an RGB-D imaging system that includes ultrasonic depth ordistance sensing can prove desirable and provide a basis for a widerange of RGB-D imaging applications, such as spatial imaging, gestureidentification, distance detection, three dimensional mapping, and thelike. In contrast to conventional RGB-D systems, an ultrasonic arraythat uses beamforming can acquire three-dimensional maps including depthinformation without being subject to ambient light interference.Additionally ultrasonic sensors use substantially less power than RGB-Dsystems using infrared sensors, which can be desirable for mobile ormoving platforms such as unmanned aerial vehicles (UAVs), and the like.These results can be achieved, according to one embodiment disclosedherein, by a RGB-D imaging system 100 as illustrated in FIG. 1.

Turning to FIG. 1, the RGB-D imaging system 100 is shown as comprisingan ultrasonic sensor array 110 that is operably connected to an imagingdevice 120, and an RGB camera assembly 130 that is operably connected tothe imaging device 120.

In various embodiments, the ultrasonic sensor array 110 can comprise aplurality of ultrasonic sensors 112 positioned on a substrate 113 in amatrix 114 defined by a plurality of rows R and columns C. One or moreultrasonic emitters can be positioned on the substrate 113 within thematrix 114 between the rows R and columns C of ultrasonic sensors 112.In further embodiments, one or more ultrasonic emitters 111 can bepositioned outside of the matrix 114 in any suitable position about theRGB-D imaging system 100. For example, one or more ultrasonic emitters111 can be positioned in the same, parallel or a separate plane from thematrix 114.

In some embodiments, there can be a single ultrasonic emitter 111 orthere can be any suitable plurality of ultrasonic emitters 111 arrangedor positioned in any desirable or suitable configuration. There can alsobe any suitable plurality of ultrasonic sensors 112 arranged orpositioned in any desirable or suitable configuration, which may or maynot be a matrix 114 configuration. In various embodiments, theultrasonic sensor array 110 can comprise a piezoelectric transducer, acapacitive transducer, magnetostrictive material, or the like.Accordingly, in various embodiments, any suitable array that providesfor the transmission and/or sensing of sound waves of any suitablefrequency can be employed without limitation.

The camera assembly 130 can comprise a lens 131 that is configured tofocus light 132 onto a light sensing array or chip 133 of pixels 134that converts received light 132 into a signal that defines an image asdiscussed herein. Although the lens 131 is depicted as a digitalsingle-lens reflex (DSLR) lens, in various embodiments, any suitabletype of lens can be used. For example, in some embodiments, the lens 131can comprise any suitable lens system, including a pin-hole lens, abiological lens, a simple convex glass lens, or the like. Additionally,lenses in accordance with various embodiments can be configured withcertain imaging properties including a macro lens, zoom lens, telephotolens, fisheye lens, wide-angle lens, or the like.

While the camera system 130 can be used to detect light in the visiblespectrum and generate images therefrom, in some embodiments, the camerasystem 130 can be adapted to detect light of other wavelengthsincluding, X-rays, infrared light, micro waves, or the like.Additionally, the camera system 130 can comprise one or more filter. Forexample, the camera system 130 can comprise an infrared-cut filter thatsubstantially filters out infrared wavelengths, which can be desirablefor operation of the RGB-D system in environments where Infraredinterference is an issue. In another example, the camera system 130 cancomprise an infrared-pass filter that substantially filters out allwavelengths except for infrared wavelengths, and the light sensing arrayor chip 133 can be configured to sense infrared wavelengths.

The camera system 130 can also be adapted far still images, videoimages, and three-dimensional images, or the like. Accordingly, thepresent disclosure should not be construed to be limiting to the examplecamera system 130 shown and described herein.

In various embodiments, the imaging device 120 can comprise a processor121, a memory 122, and a display 123. The camera system 130 andultrasonic sensor array 110 can be operatively connected to the imagingdevice 120 so that images or data generated by the camera system 130 andultrasonic sensor array 110 can be processed by the processor 121 and/orstored in the memory 122. Processed images can be presented on thedisplay 123.

In further embodiments, any of the processor 121, memory 122 and display123 can be present in a plurality or can be absent. For example, in someembodiments, an RGB-D imaging system 100 does not include a display 123,and generated images discussed herein are sent to another computingdevice or display where such images can be presented.

In some embodiments, any of the camera system 130, imaging device 120,and ultrasonic sensor array 110 can be present in any suitableplurality. For example, as discussed in more detail herein and asillustrated in FIG. 4, one embodiment 1OOA of an RGB-D imaging system100 can comprise one camera system 130 and one ultrasonic sensor array110. in another example, as discussed in more detail herein and asillustrated in FIG. 7, one embodiment 1OOB of an RGB-D imaging system100 can comprise one camera system 130 and two ultrasonic sensor arrays110.

In a further example, as discussed in more detail herein and asillustrated in FIG. 10, a three-dimensional imaging system 800 cancomprise a plurality of RGB-D imaging systems 100 that each comprise onecamera system 130 and one or more ultrasonic sensor arrays 110. In suchan embodiment, each RGB-D imaging system 100 can be associated with anindividual imaging device 120 (not, shown in FIG. 10) or each RGB-Dimaging system 100 can be associated with a central or common imagingdevice 120 (not shown in FIG. 10). In other words, associated sets ofcamera systems 130 and ultrasonic sensor arrays 110 can each beassociated with imaging device 120 or can be operatively connected witha central or common imaging device 120.

As discussed in more detail herein, an RGB-D imaging system 100 can beconfigured to generate RGB-D images. For example, referring to FIGS. 1,2 and 3, the camera system 130 can be configured to generate an RGBtriplet image 210 comprising pixel arrays for red, green and blue values211R, 211G, 211B. The ultrasonic sensor array 110 can be configured togenerate a depth-map array 220. As discussed in detail herein, the RGBtriplet image 210 and depth-map array 220 can be combined to generate anRGB-D quad image 230 that comprises the pixel arrays for red, green andblue values 211R, 211G, 211B and the depth-map array 220. Accordingly,each pixel location of the RGB-D quad image 230 is associated with a redvalue (R), a green value (G), and a blue value (B) in addition to adepth or distance value (D) corresponding to a distance from theultrasonic sensor array 110 or RGB-D imaging system 100.

In some embodiments, as depicted in FIG. 2, the RGB triplet image 210and depth-map array 220 can have the same resolution and size (i.e., thesame number of pixels for a defined image size). In such an embodiment,the RGB triplet image 210 and depth-map array 220 can be added together.

However, in some embodiments, as depicted in FIG. 3, the RGB tripletimage 210 and depth-map array 320 can have different resolutions (i.e.,a different number of pixels for a defined image size). For example, thepixel arrays for red, green and blue values 211R, 211G, 211B in FIG. 3are 8×8 pixels in an image size of N1×M1 whereas the depth-map array 320is 4×4 pixels in an image size of N2×M2. In an embodiment where N1=N2and M1=M2, the RGB triplet image 210 and/or depth-map array 320 can bemodified for combination to form the RGB-D quad image 230. In theexample shown in FIG. 3, the depth-map array 320 can be upsampled to 8×8pixels in an image size of N3×M3. The result is that the distance valueof pixel 321 in the lower resolution depth-map array 320 is used inassociation with the pixels 322 in the highlighted set 323 of fourpixels present in the upsampled depth-map array 340 present in the RGB-Dquad image 230.

In this example, upsampling of the lower resolution 4×4 depth-map array320 to the higher resolution 8×8 depth-map array 340 results in a cleanupsampling given that pixel 321 can be cleanly split into four pixels323. However, in further embodiments, conversion of a lower resolutiondepth map array 320 can require interpolation of certain pixels duringupsampling (e.g., upsampling of a 4×4 image to an I 1×1 I image, or thelike). In such an embodiment, any suitable interpolation method can beused, which can include nearest neighbor, bilinear, bicubic, bicubicsmoother, bicubic sharper, and the like.

In some embodiments, interpolation of distance values can be based onthe distance value. For example, interpolation can be treateddifferently for larger distances compared to smaller differences. Insome embodiments, RGB triplet image 210 and/or depth-map array 220 canbe resampled, and the method resampling of the RGB triplet image 210and/or depth-map array 220 can be based on distance values.

Although some embodiments include an RGB triplet image 210 and depth-maparray 320 where N1=N2 and M1=M2, in further embodiments, the RGB tripletimage 210 and depth-map array 320 can be different sizes. For example,in some embodiments, the RGB triplet image 210 can be larger than thedepth-map array 320. In other embodiments, the RGB triplet image 210 canbe smaller than the depth-map array 320. Additionally, in various M3/N3can be the same as M1/N1 and/or M2/N2, but may not be in someembodiments.

The RGB-D imaging system 100 can be embodied in various suitable ways,for example, as depicted in FIG. 4, one embodiment 1OOA includesultrasonic sensor array 110 and camera system 130 positioned on ahousing 401. The imaging device 120 (not shown in FIG. 4; see FIG. 1)can be positioned in and/or on the housing 401. For example, theprocessor 121 (see FIG. 1) and memory 122 (see FIG. 1) can be positionedwithin the housing 401 and the display 123 (see FIG. 1) can bepositioned on a suitable portion of the housing 401.

As depicted in FIGS. 4 and 5, the ultrasonic sensor array 110 andphotosensitive imaging chip 133 can be positioned side-by-side in acommon or parallel plane on the housing 401. In a preferred embodiment,the ultrasonic sensor array 110 and photosensitive imaging chip 133 areseparated by a distance no greater than 10 cm. As used herein, the terms‘common plane’ and ‘parallel plane’ are not intended to be synonyms andthese terms are intended to be distinct.

The ultrasonic sensor array 110 can have a field of view 413 defined byedges 411A, 411B and the RGB camera assembly 130 can have a field ofview 414 defined by edges 412A, 412B. As illustrated in FIG. 5, thefields of view 413, 414 can be offset. In other words, images generatedby the photosensitive imaging chip 133 and ultrasonic sensor array 110may not be exactly the same because of the physical distance of theimaging chip 133 and ultrasonic sensor array 110 on the housing. In thisexample embodiment, the fields of view 413, 414 are Shown relative to asurface 410, and comprise an overlapping portion 415, and offsetportions 420A, 420B, where the fields of view are not overlapping. Morespecifically, the offset 420A is not present in the RGB camera assemblyfield of view 414 and the offset 420A is not present in the ultrasonicsensor array field of view 413.

Overlapping portion 415 can be identified and/or determined in varioussuitable ways. For example, in one embodiment, the size of overlappingportion 415 may be known or assumed and non-overlapping portions 420 canbe automatically cropped based on such know or assumed values. Infurther embodiments, images can be aligned via any suitable machinevision or image processing method. For example, in on embodiment, aFeatures from Accelerates Segment Test algorithm (FAST algorithm) can beused for corner detection in the images to identify one or more specialcharacteristic point; a Binary Robust Independent Elementary Featuresalgorithm (BRIEF algorithm) can be used to identify feature descriptorsof an image and Hamming distance between the identified descriptors ofthe two images can be used to identify an overlapping region of thefirst and second image.

Accordingly, respective images and distance maps generated by theimaging chip 133 and ultrasonic sensor array 110 can include portionsthat do not correspond to each other, which can be undesirable whenthese images and distance maps are combined to form an RGB-D image. Inother words, for an RGB-D image to accurately indicate the distancevalue at a given pixel, images and distance maps may need to be aligned.In some embodiments, offset distance and offsets 420A, 420B can beconsidered to be negligible, and images and distance maps may not bealigned. In further embodiments, where offset distance is substantiallyconstant, images and distance maps can be aligned based on a known ordefined distance. For example, in an embodiment, where the sensor array110 and photosensitive imaging chip 133 are positioned in parallelplanes, the geometric distance between the sensor array 110 andphotosensitive imaging chip 133 can be included in a known or defineddistance used for alignment. Similarly, where the sensor array 110 andphotosensitive imaging chip 133 are positioned in a common plane, thegeometric distance between the sensor array 110 and photosensitiveimaging chip 133 can be included in a known or defined distance used foralignment.

However, Where offset distance varies (e.g., due to subject object'sdistance from the imaging system 100, environmental conditions, or thelike), alignment can be performed based on distance values of a distancemap. In some embodiments, where offset changes based on distance, it canbe desirable to identify objects of interest in the field of view andoptimize alignment of images and distance maps so that objects ofinterest are more accurately aligned. For example, there can be adetermination that a foreground object at a distance of 1 meter is anobject of interest and the background objects over 20 meters away areless important. Accordingly, alignment can be optimized for a 1 meterdistance instead of a 20 meter distance so that distance datacorresponding to the foreground object is more accurate and alignedcompared to background distance data.

Determining object of interest can be done in any suitable way and canbe based on various setting (e.g., close-up, mid-distance, far, people,landscape, or the like). Such objects of interest can be identifiedbased on suitable machine vision and/or artificial intelligence methods,or the like. In further embodiments, alignment of images and distancemaps can be done using feature detection, extraction and/or matchingalgorithms such as RANSAC (RANdom SAmple Consensus), Shi & Tomasi cornerdetection, SURF blob detection (Speeded Up Robust Features), MSER blobdetection (Maximally Stable Extremal Regions), SURF descriptors (SpeededUp Robust Features), SIFT descriptors (Scale-Invariant FeatureTransform), FREAK descriptors (Fast REtinA Keypoint), BRISK detectors(Binary Robust Invariant Scalable Keypoints), HOG descriptors (Histogramof Oriented Gradients), or the like.

In various embodiments it can be desirable to crop portions of imagesand/or distance maps that do not correspond to each other. For example,referring to FIG. 5 for an image captured of the object 410 portions420A, 420B can be cropped from respective images and distance maps toleave overlapping portion 415.

FIG. 6 illustrates a method 500 of generating an RGB-D image inaccordance with an embodiment. The method 500 begins, in block 510,where RGB image data is received from an RGB camera assembly 130 (seeFIGS. 1 and 4), and in block 520 depth-map data is received from anultrasonic array 110 (see FIGS. 1 and 4) corresponding to a portion ofthe RGB image data.

In block 530, the RGB image data and the depth-map data is aligned. Inblock 540, a portion of the RGB image data that does not correspond tothe depth-map data is cropped, and in block 550, a portion of thedepth-map data that does not correspond to the RGB data is cropped. Inblock 560, the depth-map data is upsampled to match the resolution ofthe RGB image data, and in block 570, the corresponding depth-map dataand RGB image data are combined to generate an RGB-D image.

As depicted in FIG. 7, another embodiment 1OOB of an RGB-D imagingsystem 100 includes a first and second ultrasonic. sensor array 1 1OA, 11OB and camera system 130 positioned on a housing 601. The imagingdevice 120 (not shown in FIG. 7; see FIG. 1) can be positioned in and/oron the housing 601. For example, the processor 121 (see FIG. 1) andmemory 122 (see FIG. 1) can be positioned within the housing 601 and thedisplay 123 (see FIG. 1) can be positioned on a suitable portion of thehousing 601.

As depicted in FIGS. 7 and 8, the ultrasonic sensor arrays 110 andphotosensitive imaging chip 133 can be positioned side-by-side in aparallel or common plane on the housing 401 in a linear configurationwith the photosensitive imaging chip 133 positioned between the firstand second ultrasonic arrays 11OA, 11OB. In a preferred embodiment, theultrasonic sensor arrays 110 and photosensitive imaging chip 133 arerespectively separated by a distance no greater than 10 cm.

The ultrasonic sensor arrays 11OA, 11OB can have fields of view 613A,613B defined by edges 611C, 611D and 611A, 611B respectively. The RGBcamera assembly 130 can have a field of view 614 defined by edges 612A,612B. As illustrated in FIG. 8, the fields of view 613A, 613B, 614 canbe offset. In other words, images generated by the photosensitiveimaging chip 133 and ultrasonic sensor 110 may not be exactly the samebecause of the physical distance of the imaging chip 133 and ultrasonicsensor arrays 110 on the housing 601. In this example embodiment, thefields of view 613A, 613B, 614 are shown relative to a surface 610, andcomprise an overlapping portion 615, and offset portions 620A, 620B,where the fields of view 613A, 613B, 614 are not overlapping. Morespecifically, neither the offset 620A or 620B is present in the RGBcamera assembly field of view 614, whereas the overlapping portion 615includes corresponding image data from the imaging chip field of view614 and depth-map data from one or both of the array fields of view613A, 613B.

FIG. 9 illustrates a method 700 of generating an RGB-D image inaccordance with an embodiment. The method 700 begins, in block 710,where RGB image data is received from an RGB camera assembly 130 (seeFIGS. 1 and 7). In block 720, a first depth-map data set is receivedfrom a first ultrasonic array 11OA (see FIGS. 1 and 4) corresponding toa portion of the RGB image data, and in block 730, a second depth-mapdata set is received from a second ultrasonic array 1 1OA (see FIGS. 1and 7) corresponding to portion of the RGB image data.

In block 740, the RGB image data and the depth-map data is aligned. Inblock 750, portions of the depth-map data sets that do not correspond tothe RGB image data are cropped, and in block 760, the depth-map datasets are unsampled to match the resolution of the RGB image data.Accordingly, in various embodiments, one or both of the first and seconddepth-map data sets have a lower resolution than the resolution of theRGB image data. In block 770, the corresponding depth-map data sets andRGB image data is combined to generate an RGB-D image.

FIG. 10 illustrates an embodiment of an RGB-D imaging assembly 800 thatincludes a plurality of RGB-D imaging systems 100 that are respectivelypositioned on faces 802 of a housing 801. Although the exampleembodiment 800 illustrates an octagon housing 801 having eight faces 802with imaging systems 100 positioned on each face, in further embodimentthere can be any suitable plurality of imaging systems 100 positioned invarious planes

Having a plurality of imaging systems 100 positioned in different planescan be desirable because it can be possible to generate panoramic and/orthree dimensional RGB-D images that are a composite of a plurality ofRGB image data and a plurality of distance-map data. Additionally,although the example embodiment 800 depicts imaging systems 100 at acommon height in a common or parallel plane, in further embodiments, ahousing can comprise a regular or irregular polyhedron, or the like.

FIG. 11 illustrates a method 900 of generating an RGB-D image inaccordance with an embodiment. The method 900 begins, in block 910,where a plurality of RGB images are received, each from a respective RGBcamera assembly 130 (See FIG. 1). In block 920, a plurality of depth-mapsets are received from a plurality of ultrasonic arrays 110 (See FIG. 1)that are respectively associated with one of the RGB camera assemblies130, and in block 930, the RGB images and the depth-map data sets arealigned. At 940, portions of the RGB images that do not correspond tothe depth-map data sets are cropped, and at 950, portions of thedepth-map data sets that do not correspond to the RGB images arecropped. At block 960, the depth-map data sets are upsampled to matchthe resolution of the RGB images, and at 970, the correspondingdepth-map data sets and RGB images are combined to generate a continuousRGB-D image.

The described embodiments are susceptible to various modifications andalternative forms, and specific examples thereof have been shown by wayof example in the drawings and are herein described in detail. It shouldbe understood, however, that the described embodiments are not to belimited to the particular forms or methods disclosed, but to thecontrary, the present disclosure is to cover all modifications,equivalents, and alternatives.

1-30. (canceled)
 31. A Red, Green, Blue plus Distance (RGB-D) imagingsystem comprising: an ultrasonic sensor array comprising an ultrasonicemitter and a plurality of ultrasonic sensors; a Red, Green, and Blue(RGB) camera assembly comprising a photosensitive imaging chip and alens and being operably connected with the ultrasonic sensor array; anda processor configured to: receive RGB image data from the RGB cameraassembly, receive depth-map data from the ultrasonic sensor array, thedepth-map data corresponding to a portion of the RGB image data; andcombine the corresponding depth-map data td RGB image data to generatean RGB-D image, including at least one of cropping a portion of the RGBimage data that does not correspond to the depth-map data or cropping aportion of the depth map data that does not correspond to the RGB imagedata.
 32. The RGB-D imaging system of claim 31, wherein the ultrasonicsensor array and the photosensitive imaging chip are positioned in aparallel plane.
 33. The RGB-D imaging system of claim 31, wherein: theultrasonic sensors are positioned on a substrate in a matrixconfiguration having rows and columns, and the ultrasonic emitter ispositioned within the matrix configuration and between the rows andcolumns.
 34. The RGB-D imaging system of claim 31, wherein: theultrasonic sensors are positioned on a substrate in a matrixconfiguration having rows and columns, and the ultrasonic emitter ispositioned outside of the matrix configuration.
 35. The RGB-D imagingsystem of claim 31, further comprising a display configured to presentthe RGB-D image.
 36. The RGB-D imaging system of claim 31, wherein theultrasonic sensor array is a first ultrasonic sensor array, the RGB-Dimaging system further comprising a second ultrasonic sensor arraybeing, operably connected to the first ultrasonic sensor array and theRGB camera assembly.
 37. The RGB-D imaging system of claim 36, whereinthe first and second ultrasonic sensor arrays and the photosensitiveimaging chip are positioned in a parallel plane.
 38. The RGB-D imagingsystem of claim 36, wherein the first and second ultrasonic sensorarrays and the photosensitive imaging chip are positioned in a linearconfiguration with the photosensitive imaging chip being positionedbetween the first and second ultrasonic sensor arrays.
 39. The RGB-Dimaging system of claim 31, further comprising a plurality of pairedultrasonic sensor arrays with each respective pair positioned in adifferent parallel plane.
 40. The RGB-D imaging system of claim 31,wherein the RGB camera assembly comprises an infrared-cut filter. 41.The RGB-D imaging system of claim 31, wherein the RGB camera assemblycomprises an infrared-pass filter, and the photosensitive imaging chipis configured to detect infrared light.
 42. The RGB-D imaging system ofclaim 31, wherein the ultrasonic sensor array and the RGB cameraassembly are positioned aboard an unmanned aerial vehicle.
 43. A methodof generating a contiguous Red, Green, Blue plus Distance (RGB-D) image,comprising: receiving a plurality of Red, Green, and Blue (RGB) imagesfrom a plurality of RGB camera assemblies; receiving a plurality ofdepth-map data sets from a plurality of ultrasonic sensor arrays eachbeing associated with a respective one of the KGB camera assemblies,each depth-map data set corresponding to a selected portion of aselected RGB image; and combining the corresponding depth-map data setsand RGB images to generate the contiguous RGB-D image by: aligning theRGB images and the depth-map data sets; cropping the RGB images and thedepth-map data sets; and upsampling the depth-map data of the depth-mapdata sets to a resolution that is equal to a resolution of the RGBimages.
 44. The method of claim 43, wherein cropping the RGB imagescomprises cropping a portion of the RGB images that does not correspondto a depth-map data set.
 45. The method of claim 43, wherein croppingthe depth-map data sets comprises cropping a portion of the depth-mapdata sets that does not correspond to an RGB image.
 46. The method ofclaim 43, further comprising processing the depth-map data sets receivedfrom the ultrasonic arrays via beamforming.
 47. A Red, Green, Blue plusDistance (RGB-D) imaging system, comprising: a plurality of ultrasonicsensor arrays each comprising an ultrasonic emitter and a plurality ofultrasonic sensors; a plurality of Red, Green, and Blue (RGB) cameraassemblies each comprising a photosensitive imaging chip and a lens andbeing associated with one of the ultrasonic sensor arrays; and aprocessor configured to: receive a plurality of RGB images from the RGBcamera assemblies, receive a plurality of depth-map data sets from theultrasonic sensor arrays, each depth-map data set corresponding to aselected portion of a selected RGB image, and combine the correspondingdepth-map data sets and RGB images to generate the contiguous RGB-Dimage by: aligning the RGB images and the depth-map data sets, croppingthe RGB images and the depth-map data sets, and upsampling the depth-mapdata of the depth-map data sets to a resolution that is equal to aresolution of the RGB images.
 48. The RGB-D imaging system of claim 47,wherein the processor is further configured to crop a portion of the RGBimages that does not correspond to a depth-map data set.
 49. The RGB-Dimaging system of claim 47, wherein the processor is further configuredto crop a portion of the depth-map data sets that does not correspond toan RGB image.
 50. The RGB-D imaging system of claim 47, wherein theprocessor is further configured to process the depth-map data setsreceived from the ultrasonic arrays via beamforming.